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sl-perception 76067d6d89 feat(bd-a2j): RealSense D435i + RPLIDAR A1M8 ROS2 driver integration

Adds saltybot_bringup ROS2 package with four launch files:
  - realsense.launch.py  — D435i at 640x480x15fps, IMU unified topic
  - rplidar.launch.py    — RPLIDAR A1M8 via /dev/rplidar udev symlink
  - sensors.launch.py    — both sensors + static TF (base_link→laser/camera)
  - slam.launch.py       — sensors + slam_toolbox online_async (compose entry point)

Sensor config YAMLs (mounted at /config/ in container):
  - realsense_d435i.yaml  — Nano power-budget settings (15fps, no pointcloud)
  - rplidar_a1m8.yaml     — Standard scan mode, 115200 baud, laser frame
  - slam_toolbox_params.yaml — Nano-tuned (2Hz processing, 5cm resolution)

Fixes docker-compose volume mount: ./ros2_ws/src:/ros2_ws/src
(was ./ros2_ws:/ros2_ws/src — would have double-nested the src directory)

Topic reference and verification commands in SENSORS.md.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-02-28 17:14:21 -05:00

.pio/build

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

chassis

feat: vertical stem architecture — compact baseplate + battery carousel

2026-02-28 14:57:30 -05:00

include

fix: correct roll axis mapping + add yaw telemetry (issues #12 , #13 )

2026-02-28 15:07:04 -05:00

jetson

feat(bd-a2j): RealSense D435i + RPLIDAR A1M8 ROS2 driver integration